// This behavior file is for agent_red vehicle

 //----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = survey
  pwt        = 100
  condition    = DEPLOY==true
  updates    = RETURN_UPDATE
  endflag    = RETURN = true
  endflag    = OBJECTIVE = return

	   speed = 1.8
  capture_radius = 2.0
     slip_radius = 8.0

  points = format=lawnmower, x=$(RED_X), y=$(RED_Y), height=60, width=180, lane_width=15
  //points = format=lawnmower, x=175, y=-20, height=60, width=180, lane_width=15
  repeat = 0

 }


//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN==true
  condition  = OBJECTIVE==return

  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

	   speed = $(SPEED)
  capture_radius = 2.0
     slip_radius = 8.0

  points = 50,-10

 }

#include plugs/bhvs/std_bhvs/plug_stationkeep.bhv
#include plugs/bhvs/std_bhvs/plug_opregion.bhv
#include plugs/bhvs/std_bhvs/plug_colregs.bhv